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You can't run costmap_2d as a node, however you can write your own node that will contain a Costmap2DROS object and little else.

Check out the API, as well as how the object is typically used in move_base.

Costmaps don't directly explicitly to anything, they delegate that to layers. Setting up an obstacle layer to subscribe to a laser sensor source is done using parameters, and is described here - http://wiki.ros.org/costmap_2d/Tutorials/Configuring%20Layered%20Costmaps

You can't run costmap_2d as a node, however you can write your own node that will contain a Costmap2DROS object and little else.

Check out the API, as well as how the object is typically used in move_base.

Costmaps don't directly explicitly subscribe to anything, any sensors, they delegate that to layers. Setting up an obstacle layer to subscribe to a laser sensor source is done using parameters, and is described here - http://wiki.ros.org/costmap_2d/Tutorials/Configuring%20Layered%20Costmaps

You can't run costmap_2d as a node, however you can write your own node that will contain a Costmap2DROS object and little else. As David points out below, you CAN run a costmap_2d node that does this for you.

Check out the API, as well as how the object is typically used in move_base.

Costmaps don't explicitly subscribe to any sensors, they delegate that to layers. Setting up an obstacle layer to subscribe to a laser sensor source is done using parameters, and is described here - http://wiki.ros.org/costmap_2d/Tutorials/Configuring%20Layered%20Costmaps